相关论文: Automatically Annotating Indoor Images with CAD Mo…

Active learning has emerged as a promising approach to reduce the substantial annotation burden in 3D object detection tasks, spurring several initiatives in outdoor environments. However, its application in indoor environments remains…

We present a novel approach that converts partial and noisy RGB-D scans into high-quality 3D scene reconstructions by inferring unobserved scene geometry. Our approach is fully self-supervised and can hence be trained solely on real-world,…

One practical approach to infer 3D scene structure from a single image is to retrieve a closely matching 3D model from a database and align it with the object in the image. Existing methods rely on supervised training with images and pose…

We propose the method that uses only computer graphics datasets to parse the real world 3D scenes. 3D scene parsing based on semantic segmentation is required to implement the categorical interaction in the virtual world. Convolutional…

This article describes novel approaches to quickly estimate planar surfaces from RGBD sensor data. The approach manipulates the standard algebraic fitting equations into a form that allows many of the needed regression variables to be…

The annotation of video tampering dataset is a boring task that takes a lot of manpower and financial resources. At present, there is no published literature which is capable to improve the annotation efficiency of forged videos. We…

Accurate ground truth annotations are critical to supervised learning and evaluating the performance of autonomous vehicle systems. These vehicles are typically equipped with active sensors, such as LiDAR, which scan the environment in…

The comparison of current image data with existing 3D model data of a scene provides an efficient method to keep models up to date. In order to transfer information between 2D and 3D data, a preliminary co-registration is necessary. In this…

3D perception of object shapes from RGB image input is fundamental towards semantic scene understanding, grounding image-based perception in our spatially 3-dimensional real-world environments. To achieve a mapping between image views of…

Unsupervised and open-vocabulary 3D object detection has recently gained attention, particularly in autonomous driving, where reducing annotation costs and recognizing unseen objects are critical for both safety and scalability. However,…

In this paper, we propose a novel method to jointly solve scene layout estimation and global registration problems for accurate indoor 3D reconstruction. Given a sequence of range data, we first build a set of scene fragments using…

Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…

Reconstructing structured 3D scenes from RGB images using CAD objects unlocks efficient and compact scene representations that maintain compositionality and interactability. Existing works propose training-heavy methods relying on either…

We address the task of aligning CAD models to a video sequence of a complex scene containing multiple objects. Our method can process arbitrary videos and fully automatically recover the 9 DoF pose for each object appearing in it, thus…

As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…

Sketches, with their expressive potential, allow humans to convey the essence of an object through even a rough contour. For the first time, we harness this expressive potential to improve segmentation performance in challenging tasks like…

This project aims to create an automated image captioning system that generates natural language descriptions for input images by integrating techniques from computer vision and natural language processing. We employ various different…